Here is some data from KTH in Sweden.
This KTH data is part of a larger SLAM data collection found
here
. The formating rules are given in Data
Format . The data is taken from an autonoumous exploration
with an ATRV robot from iRobot.
It is a loop around our lab building. An accurate map of the building
is included and can be view in matlab with the simple script
provided.

I have included fused odometer and inertial data with an estimate of
the incremental covariance to make it easier to use the data.
Purists can use the raw data of course but it will take longer.

You can just download all this here data.tar.gz
, or take a look below to see what they look like first.